motor.c

#include "motor.h"
#include "tm4c123gh6pm.h"

void motor_init(void) {
    SYSCTL_RCGCGPIO_R |= SYSCTL_RCGCGPIO_R4;
    while (!(SYSCTL_PRGPIO_R & SYSCTL_PRGPIO_R4));

    GPIO_PORTE_DIR_R |= (MOTOR_DIR1 | MOTOR_DIR2);
    GPIO_PORTE_DEN_R |= (MOTOR_DIR1 | MOTOR_DIR2);

    SYSCTL_RCGCTIMER_R |= SYSCTL_RCGCTIMER_R1;
    while (!(SYSCTL_PRTIMER_R & SYSCTL_PRTIMER_R1));
}

void door_open(void) {
    TIMER1_ICR_R |= TIMER_ICR_TATOCINT;
    TIMER1_CTL_R &= ~TIMER_CTL_TAEN;
    TIMER1_CFG_R = 0;
    TIMER1_TAMR_R = 0x1;
    TIMER1_TAILR_R = MOVING_TIME_MS * 16000;
    TIMER1_CTL_R |= TIMER_CTL_TAEN;

    MOTOR_CTL |= MOTOR_DIR1;
    MOTOR_CTL &= ~MOTOR_DIR2;
    while (!(TIMER1_RIS_R & TIMER_RIS_TATORIS));

    MOTOR_CTL &= ~MOTOR_DIR1;
    MOTOR_CTL &= ~MOTOR_DIR2;
}

void door_close(void) {
    TIMER1_ICR_R |= TIMER_ICR_TATOCINT;
    TIMER1_CTL_R &= ~TIMER_CTL_TAEN;
    TIMER1_CFG_R = 0;
    TIMER1_TAMR_R = 0x1;
    TIMER1_TAILR_R = MOVING_TIME_MS * 16000;
    TIMER1_CTL_R |= TIMER_CTL_TAEN;

    MOTOR_CTL &= ~MOTOR_DIR1;
    MOTOR_CTL |= MOTOR_DIR2;
    while (!(TIMER1_RIS_R & TIMER_RIS_TATORIS));

    MOTOR_CTL &= ~MOTOR_DIR1;
    MOTOR_CTL &= ~MOTOR_DIR2;
}